U.S. patent number 9,758,141 [Application Number 14/701,347] was granted by the patent office on 2017-09-12 for initialization method for electro-mechanical brake.
This patent grant is currently assigned to HYUNDAI MOBIS CO., LTD.. The grantee listed for this patent is HYUNDAI MOBIS CO., LTD.. Invention is credited to Jong Sung Kim, Soung Jun Park.
United States Patent |
9,758,141 |
Kim , et al. |
September 12, 2017 |
Initialization method for electro-mechanical brake
Abstract
An initialization method for an EMB may include: opening an
in-valve for controlling a flow path through which brake oil is
introduced from a master cylinder, closing an out-valve for
controlling a flow path through which the brake oil is transferred
to an accumulator part, and driving a motor to move a master piston
forward; when the master piston is moved by a preset distance after
coming in contact with a slave piston which is brought in contact
with an inner pad, closing the in-valve and driving the motor to
move the master piston backward; when the contact between the
master piston and the slave piston is released, determining whether
a gap between the master piston and the slave piston is equal to or
more than a preset gap; and when the gap is equal to or more than
the preset gap, ending initialization of the EMB.
Inventors: |
Kim; Jong Sung (Yongin-si,
KR), Park; Soung Jun (Ansan-si, KR) |
Applicant: |
Name |
City |
State |
Country |
Type |
HYUNDAI MOBIS CO., LTD. |
Seoul |
N/A |
KR |
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Assignee: |
HYUNDAI MOBIS CO., LTD. (Seoul,
KR)
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Family
ID: |
55067256 |
Appl.
No.: |
14/701,347 |
Filed: |
April 30, 2015 |
Prior Publication Data
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Document
Identifier |
Publication Date |
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US 20160010668 A1 |
Jan 14, 2016 |
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Foreign Application Priority Data
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Jul 9, 2014 [KR] |
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10-2014-0085961 |
Sep 4, 2014 [KR] |
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10-2014-0117901 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B60T
13/08 (20130101); B60T 7/20 (20130101); B60T
8/4872 (20130101) |
Current International
Class: |
B60T
13/00 (20060101); B60T 7/20 (20060101); B60T
13/08 (20060101); B60T 8/48 (20060101) |
Field of
Search: |
;188/1.11E,72.3,72.4,72.6,158,160,170 ;303/3,7,20,57,61 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
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10-2011-0065845 |
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Jun 2011 |
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KR |
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Primary Examiner: Schwartz; Christopher
Attorney, Agent or Firm: Knobbe Martens Olson & Bear
LLP
Claims
What is claimed is:
1. An initialization method for an electro mechanical brake (EMB),
comprising: opening an in-valve for controlling a flow path through
which brake oil is introduced from a master cylinder, closing an
out-valve for controlling a flow path through which the brake oil
is transferred to an accumulator part, and driving a motor to move
a master piston forward; when the master piston is moved by a
preset distance after coming in contact with a slave piston which
is brought in contact with an inner pad for forming a braking
force, closing the in-valve and driving the motor to move the
master piston backward; when the contact between the master piston
and the slave piston is released, determining whether a gap between
the master piston and the slave piston is equal to or more than a
preset gap; and when the gap is equal to or more than the preset
gap, ending initialization of the EMB.
2. The initialization method for claim 1, wherein the determining
of whether the gap between the master piston and the slave piston
is equal to or more than the preset gap comprises: when it is
determined that the gap is less than the preset gap, opening the
out-valve, and driving the motor to move the master piston forward
until the master piston comes in contact with the slave piston;
when the master piston comes in contact with the slave piston,
opening the in-valve, closing the out-valve, and driving the motor
to move the master piston forward by the preset distance; and when
the master piston is moved by the preset distance after coming in
contact with the slave piston, closing the in-valve, opening the
out-valve, and driving the motor to move the master piston
backward.
3. The initialization method for claim 1, wherein the slave piston
is moved by hydraulic pressure which is formed according to the
movement of the master piston.
4. The initialization method for claim 1, wherein as the master
piston has a smaller cross-sectional area than the slave piston,
the master piston has a larger displacement than the slave
piston.
5. The initialization method for claim 1, wherein as the in-valve
is opened, the brake oil is introduced into the slave piston from
the master cylinder.
6. The initialization method for claim 1, wherein as the out-valve
is opened, the brake oil introduced into the slave piston is
transferred to the accumulator part.
7. The initialization method for claim 1, wherein when a current of
the motor is equal to or more than a preset current while the
master piston is moved forward, it is determined that the master
piston is brought in contact with the slave piston.
8. The initialization method for claim 1, wherein the determining
of whether the gap between the master piston and the slave piston
is equal to or more than the preset gap comprises determining
whether the gap between the master piston and the slave piston is
equal to or more than the preset gap, by referring to the backward
moving distance of the master piston and the displacement of the
slave piston which is moved through hydraulic pressure formed by
the brake oil introduced into the slave piston.
9. The initialization method for claim 1, wherein the EMB comprises
a hydraulic EMB (hEMB) which brakes a vehicle using the master
piston which is moved by the motor and the slave piston which is
moved through hydraulic pressure formed by the brake oil introduced
into the slave piston according to the movement of the master
piston.
10. An initialization method for an EMB, comprising: a contact
determination step of determining whether a master piston and a
slave piston are brought in contact with each other before a brake
pad and a brake disk are brought in contact with each other by the
slave piston moved in connection with the master piston, when an
in-valve for controlling entry and exit of brake oil to and from a
master cylinder is closed, an out-valve for controlling entry and
exit of brake oil to and from an accumulator part is closed, and a
motor is rotated to move the master piston forward; a piston gap
determination step of determining whether a moving distance
required until the master piston comes in contact with the slave
piston corresponds to a first section, when the master piston is
moved forward in state where the out-valve is opened, in case where
it is determined that the brake pad and the brake disk were brought
in contact with each other before the master piston and the slave
piston were brought in contact with each other; and a pad gap
securing step of moving the master piston backward until a pad gap
between the slave piston and the brake pad corresponds to a second
section, when the moving distance of the master piston corresponds
to the first section, and ending initialization of the EMB.
11. The initialization method for claim 10, wherein the piston gap
determination step comprises: an additional forward movement step
of moving the master piston forward until the brake pad and the
brake disk are brought in contact with each other in a state where
the in-valve is opened, when it is determined that the brake pad
and the brake disk were brought in contact with each other after
the master piston and the slave piston were brought in contact with
each other; and an oil injection step of moving the master cylinder
backward by a distance corresponding to the first section by
injecting brake oil through the in-valve, when the brake pad and
the brake disk are brought in contact with each other through the
additional forward movement step.
12. The initialization method for claim 10, wherein the slave
piston is moved by hydraulic pressure which is formed according to
the movement of the master piston.
13. The initialization method for claim 10, wherein as the master
piston has a smaller cross-sectional area than the slave piston,
the master piston has a larger displacement than the slave
piston.
14. The initialization method for claim 10, wherein as the in-valve
is opened, the brake oil is introduced into the slave piston from
the master cylinder.
15. The initialization method for claim 10, wherein as the
out-valve is opened, the brake oil introduced into the slave piston
is transferred to the accumulator part.
16. The initialization method for claim 10, wherein the contact
determination step comprises determining that the brake pad and the
brake disk were brought in contact with each other before the
master piston came in contact with the slave piston, when a
pressure measured through a pressure sensor connected to a
hydraulic pressure chamber is equal to or more than a preset
pressure while the master piston is moved forward.
17. The initialization method for claim 10, wherein the piston gap
determination step determines that the master piston is brought in
contact with the slave piston, when a current of the motor is equal
to or more than a preset current while the master piston is moved
forward.
18. The initialization method for claim 10, wherein the EMB
comprises an hEMB which brakes a vehicle using the master piston
which is moved by the motor and the slave piston which is moved
through hydraulic pressure formed by the brake oil introduced into
the slave piston according to the movement of the master piston.
Description
CROSS-REFERENCES TO RELATED APPLICATIONS
The present application claims priority to Korean application
numbers 10-2014-0085961 and 10-2014-0117901, filed on Jul. 9, 2014
and Sep. 4, 2014, respectively, which are incorporated by reference
in their entirety.
BACKGROUND
The present disclosure relates to an initialization method for an
EMB (Electro-Mechanical Brake), and more particularly, to an
initialization method for an EMB, which secures a gap between a
master piston and a slave piston in a hydraulic EMB (hEMB), and
maintains the effect of boosted hydraulic pressure in a braking
section.
In general, a brake device refers to a device for decelerating or
stopping a vehicle. Recently, an EMB has been developed to replace
existing hydraulic brake systems. The EMB includes a smaller number
of parts than the hydraulic brake systems, and can be reduced in
weight. Furthermore, the EMB has excellent modularity and braking
performance.
In the EMB, a hydraulic pipe and a hydraulic piping for guiding
hydraulic pressure can be replaced with an electric wire Thus, the
EMB can reduced the weight of the vehicle.
When the EMB is applied to both of the front and rear wheels of the
vehicle, an ESC (Electronic Stability Control) function can be
implemented without a separate ESC module. However, a system, which
brakes the front wheels through an EMB and brakes the rear wheels
through a general hydraulic pressure brake, includes an ESC module
to implement the ESC function.
The related technology is disclosed in Korean Patent Laid-open
Publication No. 10-2011-0065845 published on Jun. 16, 2011 and
entitled "Brake System of Vehicle".
SUMMARY
Embodiments of the present invention are directed to an
initialization method for an EMB, which secures a gap between a
master piston and a slave piston and a gap between a brake pad and
a brake disk in an hEMB which brakes a vehicle by pressurizing the
brake pad, or particularly the slave piston brought in contact with
the brake pad, using the pressure of the master piston driven by a
motor, thereby stably secure an effect of boosted hydraulic
pressure in a braking section.
In one embodiment, an initialization method for an EMB may include:
opening an in-valve for controlling a flow path through which brake
oil is introduced from a master cylinder, closing an out-valve for
controlling a flow path through which the brake oil is transferred
to an accumulator part, and driving a motor to move a master piston
forward; when the master piston is moved by a preset distance after
coming in contact with a slave piston which is brought in contact
with an inner pad for forming a braking force, closing the in-valve
and driving the motor to move the master piston backward; when the
contact between the master piston and the slave piston is released,
determining whether a gap between the master piston and the slave
piston is equal to or more than a preset gap; and when the gap is
equal to or more than the preset gap, ending initialization of the
EMB.
The determining of whether the gap between the master piston and
the slave piston is equal to or more than the preset gap may
include: when it is determined that the gap is less than the preset
gap, opening the out-valve, and driving the motor to move the
master piston forward until the master piston comes in contact with
the slave piston; when the master piston comes in contact with the
slave piston, opening the in-valve, closing the out-valve, and
driving the motor to move the master piston forward by the preset
distance; and when the master piston is moved by the preset
distance after coming in contact with the slave piston, closing the
in-valve, opening the out-valve, and driving the motor to move the
master piston backward.
The slave piston may be moved by hydraulic pressure which is formed
according to the movement of the master piston.
As the master piston has a smaller cross-sectional area than the
slave piston, the master piston may have a larger displacement than
the slave piston.
As the in-valve is opened, the brake oil may be introduced into the
slave piston from the master cylinder.
As the out-valve is opened, the brake oil introduced into the slave
piston may be transferred to the accumulator part.
When a current of the motor is equal to or more than a preset
current while the master piston is moved forward, it may be
determined that the master piston is brought in contact with the
slave piston.
The determining of whether the gap between the master piston and
the slave piston is equal to or more than the preset gap may
include determining whether the gap between the master piston and
the slave piston is equal to or more than the preset gap, by
referring to the backward moving distance of the master piston and
the displacement of the slave piston which is moved through
hydraulic pressure formed by the brake oil introduced into the
slave piston.
The EMB may include an hEMB which brakes a vehicle using the master
piston which is moved by the motor and the slave piston which is
moved through hydraulic pressure formed by the brake oil introduced
into the slave piston according to the movement of the master
piston.
In another embodiment, an initialization method for an EMB may
include: a contact determination step of determining whether a
master piston and a slave piston are brought in contact with each
other before a brake pad and a brake disk are brought in contact
with each other by the slave piston moved in connection with the
master piston, when an in-valve for controlling entry and exit of
brake oil to and from a master cylinder is closed, an out-valve for
controlling entry and exit of brake oil to and from an accumulator
part is closed, and a motor is rotated to move the master piston
forward; a piston gap determination step of determining whether a
moving distance required until the master piston comes in contact
with the slave piston corresponds to a first section, when the
master piston is moved forward in state where the out-valve is
opened, in case where it is determined that the brake pad and the
brake disk were brought in contact with each other before the
master piston and the slave piston were brought in contact with
each other; and a pad gap securing step of moving the master piston
backward until a pad gap between the slave piston and the brake pad
corresponds to a second section, when the moving distance of the
master piston corresponds to the first section, and ending
initialization of the EMB.
The piston gap determination step may include: an additional
forward movement step of moving the master piston forward until the
brake pad and the brake disk are brought in contact with each other
in a state where the in-valve is opened, when it is determined that
the brake pad and the brake disk were brought in contact with each
other after the master piston and the slave piston were brought in
contact with each other; and an oil injection step of moving the
master cylinder backward by a distance corresponding to the first
section by injecting brake oil through the in-valve, when the brake
pad and the brake disk are brought in contact with each other
through the additional forward movement step.
The slave piston may be moved by hydraulic pressure which is formed
according to the movement of the master piston.
As the master piston has a smaller cross-sectional area than the
slave piston, the master piston may have a larger displacement than
the slave piston.
As the in-valve is opened, the brake oil may be introduced into the
slave piston from the master cylinder.
As the out-valve is opened, the brake oil introduced into the slave
piston may be transferred to the accumulator part.
The contact determination step may include determining that the
brake pad and the brake disk were brought in contact with each
other before the master piston came in contact with the slave
piston, when a pressure measured through a pressure sensor
connected to a hydraulic pressure chamber is equal to or more than
a preset pressure while the master piston is moved forward.
The piston gap determination step may determine that the master
piston is brought in contact with the slave piston, when a current
of the motor is equal to or more than a preset current while the
master piston is moved forward.
The EMB may include an hEMB which brakes a vehicle using the master
piston which is moved by the motor and the slave piston which is
moved through hydraulic pressure formed by the brake oil introduced
into the slave piston according to the movement of the master
piston.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a diagram schematically illustrating a brake device for a
vehicle in accordance with an embodiment of the present
invention.
FIG. 2 is a cross-sectional view schematically illustrating an hEMB
for a vehicle in accordance with the embodiment of the present
invention.
FIG. 3 is a cross-sectional view schematically illustrating the
operation of the hEMB in accordance with the embodiment of the
present invention.
FIG. 4 is a flowchart illustrating an initialization method for an
EMB in accordance with a first embodiment of the present
invention.
FIG. 5 is a diagram illustrating a state in which an in-valve is
opened and an out-valve is closed in the initialization method for
an EMB in accordance with the first embodiment of the present
invention.
FIG. 6 is a diagram illustrating that a master piston is moved
backward in a state where the in-valve and the out-valve are closed
in the initialization method for an EMB in accordance with the
first embodiment of the present invention.
FIG. 7 is a diagram illustrating that the master piston is moved
forward in a state where the out-valve is opened in the
initialization method for an EMB in accordance with the first
embodiment of the present invention.
FIG. 8 is a diagram illustrating that the master piston is moved
forward in a state where the in-valve is opened and the out-valve
is closed, in the initialization method for an EMB in accordance
with the first embodiment of the present invention.
FIG. 9 is a diagram illustrating that the master piston is moved
backward in a state where the in-valve is closed and the out-valve
is opened, in the initialization method for an EMB in accordance
with the first embodiment of the present invention.
FIG. 10 is a flowchart illustrating an initialization method for an
EMB in accordance with a second embodiment of the present
invention.
FIG. 11 is a conceptual view for describing the operation of an
hEMB in the initialization method for an EMB in accordance with the
second embodiment of the present invention.
FIG. 12 is a conceptual view illustrating that a master piston and
a slave piston of the hEMB are moved forward in the initialization
method for an EMB in accordance with the second embodiment of the
present invention.
FIG. 13 is a diagram illustrating a state in which a brake pad and
a brake disk are brought in contact with each other by the slave
piston of the hEMB, in the initialization method for an EMB in
accordance with the second embodiment of the present invention.
FIG. 14 is a conceptual view illustrating a state in which the
master piston and the slave piston of the hEMB are brought in
contact with each other while being moved forward, in the
initialization method for an EMB in accordance with the second
embodiment of the present invention.
FIG. 15 is a conceptual view illustrating a state in which the
master piston and the slave piston of the hEMB are brought in
contact with each other, in the initialization method for an EMB in
accordance with the second embodiment of the present invention.
FIG. 16 is a conceptual view illustrating a state in which the
master piston is moved backward in order to secure a gap between
the master piston and the slave piston of the hEMB, in the
initialization method for an EMB in accordance with the second
embodiment of the present invention.
FIG. 17 is a conceptual view illustrating a state in which the
master piston and the slave piston of the hEMB are moved backward
to secure a gap from the brake pad, in the initialization method
for an EMB in accordance with the second embodiment of the present
invention.
DESCRIPTION OF EMBODIMENTS
Embodiments of the invention will hereinafter be described in
detail with reference to the accompanying drawings. It should be
noted that the drawings are not to precise scale and may be
exaggerated in thickness of lines or sizes of components for
descriptive convenience and clarity only.
Furthermore, the terms as used herein are defined by taking
functions of the invention into account and can be changed
according to the custom or intention of users or operators.
Therefore, definition of the terms should be made according to the
overall disclosures set forth herein.
In general, an ESC module is provided to perform ESC control and
ABS control for rear wheels when the rear wheels are braked.
Depending on cases, however, the ESC module may perform a parking
brake function of the front-wheel EMB, a function of blocking a
master piston pressure and an EMB wheel pressure during a braking
operation, and an EMB initialization function.
In the case of a hydraulic EMB (hEMB) having an ESC module, a
pressure generated by a motor is not directly transmitted to a
slave piston, but transmitted to the slave piston through a
hydraulic pressure formed by pressurizing a master piston. Thus,
the hEMB may reduce the generation of noise and the damage of the
device.
Furthermore, a boosted force is generated by a difference in
cross-sectional area between the master piston and the slave
piston. When the boosted force is used, a boosted force generated
by a gear may be maximized or removed, which makes it possible to
avoid noise and efficiency reduction which can occur when the gear
is used. Furthermore, while the number of gear trains is minimized,
the size of an actuator can be reduced. Thus, the entire size of
the hEMB can be reduced.
The hEMB has a difference in cross-sectional area between the
master piston which is driven by the rotational force of the motor
and the slave piston which is brought in contact with a brake pad
for forming a braking force. Thus, when the pistons are moved, the
pistons have a difference in moving speed therebetween.
Thus, the two pistons gradually approach each other. When two
pistons come in contact with each other in a braking section where
a braking force needs to be generated, the effect of the boosted
hydraulic pressure may disappear. In order to prevent the
disappearance, an initialization operation for the hEMB may be
performed as follows. The master piston and the slave piston may be
forced to be spaced at a predetermined gap or more from each other
such that the braking performance can be normally performed.
At this time, in order to space the master piston and the slave
piston from each other, a solenoid valve may be operated in a state
where the master piston and the slave piston are brought in contact
with each other. Then, when only the master piston is moved
backward in a state where the slave piston is stopped, a
predetermined gap is formed between the master piston and the slave
piston.
However, when the reverse speed of the master piston is relatively
high, the speed at which brake oil is introduced may be lowered to
form low hydraulic pressure. Thus, the slave piston is moved
backward together, thereby making it difficult to maintain the
desired gap between the master piston and the slave piston.
Thus, the reverse speed of the master piston may be lowered to
secure a gap. In this case, however, stability may be degraded, and
a considerable amount of time may be required for initialization.
Thus, there is a demand for an improved structure.
FIG. 1 is a diagram schematically illustrating a brake device for a
vehicle in accordance with an embodiment of the present invention.
Referring to FIG. 1, the brake device 1 for a vehicle in accordance
with the embodiment of the present invention may include a master
cylinder 10, a pedal 20, a diverging line part 30, a front wheel
line part 40, a hydraulic electro-mechanical brake (hEMB) 50, a
rear wheel line part 60, a hydraulic brake 70, an accumulator part
80, a motor pump 90, and a pedal simulator 100.
The master cylinder 10 may be mounted on a vehicle body, and the
pedal 20 may pressurize the master cylinder 10. For example, the
pedal 20 may be positioned at the bottom of a driver's seat such
that a driver can step on the pedal 20. When the pedal 20
pressurizes the master cylinder 10, hydraulic pressure in the
master cylinder 10 may be amplified.
The diverging line part 30 may be connected to the master cylinder
10, and transfer hydraulic pressure generated through the master
cylinder 10. For example, the master cylinder 10 may have two
chambers formed therein, and a pair of diverging line parts 30 may
be connected to the respective chambers so as to transfer hydraulic
pressure.
The diverging line part 30 may include a diverging supply part 31,
a diverging connection part 32, a normal open valve 33, a diverging
storage part 34, and a normal closed valve 35.
The pair of diverging supply parts 31 may be connected to the
master cylinder 10 so as to transfer hydraulic pressure. In the
present embodiment, the pedal simulator 100 may be connected to the
diverging supply part 31.
The diverging connection part 32 may have one end connected to the
diverging supply part 31 and the other end connected to the front
wheel line part 40. The normal open valve 33 may be mounted on the
diverging connection part 32, and open the diverging connection
part 32 in a state where no electrical signal is received. When
receiving an electrical signal, the normal open valve 33 may close
the diverging connection part 32.
The diverging storage part 34 may have one end connected to the
diverging supply part 31 and the other end connected to the
accumulator part 80. The normal closed valve 35 may be mounted on
the diverging storage part 34, and close the diverging storage part
34 in a state where no electrical signal is received. When
receiving an electrical signal, the normal closed valve 35 may open
the diverging storage part 34.
The front wheel line part 40 may be connected to the diverging line
part 30 so as to guide hydraulic pressure, and the hEMB 50 may be
connected to the front wheel line part 40. The hEMB 50 may
mechanically brake a front wheel 150 according to a received
electrical signal.
The hEMB 50 may be connected to the front wheel line part 40, and
supply hydraulic pressure to the front wheel line part 40 while
braking the front wheel 150 according to the electrical signal. In
the present embodiment, the hEMB 50 may brake the front wheel 150
using the hydraulic pressure provided through the front wheel line
part 40.
At this time, the front wheel line part 40 may include a front
wheel guide part 41, an in-valve 42, and an out-valve 43. The front
wheel guide part 41 may connect the diverging connection part 32
and the hEMB 50. The in-valve 42 may be mounted on the front wheel
guide part 41 and open/close the front wheel guide part 41
according to control, such that the brake oil of the master
cylinder 10 is introduced.
In the present embodiment, one end of the front wheel guide part 41
may be connected to the normal open valve 33 formed at an end of
the diverging connection part 32, and the other end of the front
wheel guide part 41 may be connected to the hEMB 50.
The out-valve 43 may transfer the brake oil introduced from the
master cylinder 10 to the accumulator part 80 according to
control.
At this time, since the brake oil transferred to the accumulator
part 80 has pressure formed therein, the brake oil is free from the
surface tension between the master piston P1 and the slave piston
P2, unlike the brake oil which is directly introduced from the
master cylinder 10.
The front wheel guide part 41 may have a hydraulic pressure sensor
mounted therein, the hydraulic pressure sensor measuring hydraulic
pressure. During four-wheel independent active control, fluid
pressure may leak when the hydraulic pressure between the in-valve
42 and the hEMB 50 becomes higher than the previous hydraulic
pressure of the in-valve 42. In order to prevent the leakage, a
check valve may be removed from the in-valve 42.
The rear wheel line part 60 may connected to the front wheel line
part 40 so as to guide hydraulic pressure, and the hydraulic brake
70 may be connected to the rear wheel line part 60. The hydraulic
brake 70 may brake a rear wheel 170 using hydraulic pressure. In
the present embodiment, the rear wheel line part 60 may include a
rear wheel guide part 61, a rear wheel valve 62, a rear wheel
bypass part 63, and a check valve 64.
The rear wheel guide part 61 may connect the front wheel guide part
41 and the hydraulic brake 70, and the rear wheel valve 62 may be
mounted on the rear wheel guide part 61 so as to open/close the
rear wheel guide part 61. For example, one end of the rear wheel
guide part 61 may be connected to the front wheel guide part 41
between the normal open valve 33 and the in-valve 42. The rear
wheel bypass part 63 may have both ends connected to the rear wheel
guide part 61, and induce hydraulic pressure to bypass the rear
wheel valve 62. The check valve 64 may be mounted on the rear wheel
bypass part 63 and allow hydraulic pressure to flow only in one
direction.
The accumulator part 80 may store hydraulic pressure to perform a
buffer function. The accumulator part 80 may be connected to the
diverging line part 30, the front wheel line part 40, and the rear
wheel line part 60, and adjust hydraulic pressure passing through
the diverging line part 30, the front wheel line part 40, and the
rear wheel line part 60.
In the present embodiment, the accumulator part 80 may include an
accumulator 81, a pump connection part 82, a diverging connection
part 83, a front wheel connection part 84, and a rear wheel
connection part 85. The pump connection part 82 may connect the
motor pump 90 and the accumulator 81, the diverging connection part
83 may connect the diverging storage part 34 and the accumulator
81, the front wheel connection part 84 may connect the front wheel
guide part 41 and the accumulator 81, and the rear wheel connection
part 85 may connect the rear wheel guide part 61 and the
accumulator 81.
The diverging connection part 83 may include a connection check
valve 831 which allows hydraulic pressure to flow only in one
direction. The front wheel connection part 84 may include a front
wheel opening/closing part 841 which opens/closes the front wheel
connection part 84, and the rear wheel connection part 85 may
include a rear wheel opening/closing part 851 which opens/closes
the rear wheel connection part 85.
In the present embodiment, the pump connection part 82 may have one
end connected to the motor pump 90 and the other end connected to
the accumulator 81. One end of the diverging connection part 83 may
be connected to the normal closed valve 35 formed at the end of the
diverging storage part 34, and the other end of the diverging
connection part 83 may be connected to the pump connection part 82
formed between the motor pump 90 and the connection check valve
831.
One end of the front wheel connection part 84 may be connected to
the front wheel guide part 41 formed between the in-valve 42 and
the hEMB 50, and the other end of the front wheel connection part
84 may be connected to the pump connection part 82 formed between
the connection check valve 831 and the accumulator 81.
One end of the rear wheel connection part 85 may be connected to
the rear wheel guide part 61 formed between the rear wheel bypass
part 63 and the hydraulic brake 70, and the other end of the rear
wheel connection part 85 may be connected to the front wheel
connection part 84 formed between the front wheel opening/closing
part 841 and the accumulator 81.
The motor pump 90 may be connected to the front wheel line part 40
so as to supply hydraulic pressure. In the present embodiment, the
motor pump 90 may be driven according to an electric signal, and
provide hydraulic pressure to the hydraulic brake 70.
In the present embodiment, the motor pump 90 may be connected to
each of the front wheel guide parts 41. For example, the motor pump
90 may be connected to the front wheel guide part 41 formed between
the normal open valve 33 and the in-valve 42.
The pedal simulator 100 may be connected to the diverging line part
30, and provide a pedal force to the pedal 20. Through the pedal
simulator 100, a driver may recognize a pedal feel when stepping on
the pedal 20.
FIG. 2 is a cross-sectional view schematically illustrating the
hEMB for a vehicle in accordance with the embodiment of the present
invention. FIG. 3 is a cross-sectional view schematically
illustrating the operation of the hEMB in accordance with the
embodiment of the present invention.
Referring to FIGS. 2 and 3, the hEMB 50 in accordance with the
embodiment of the present invention may include a housing 510, a
motor 530, a spindle 540, a master piston P1, and a slave piston
P2.
The housing 510 may have a hydraulic pressure chamber formed
therein. At one side of the hydraulic pressure chamber, a pair of
brake pads 600 may be installed. Between the brake pads 600, a
brake disk 700 may be installed. The hydraulic pressure chamber may
contain incompressible brake oil serving as working fluid.
The motor 530 may be coupled to the housing 510 through a bolting
system or the like, and include an electric motor and a gear. As
power is applied, the motor 530 may be driven.
The spindle 540 may be axially coupled to the motor 530 and formed
in a cylindrical rod shape. The spindle 540 may be coupled to the
master piston P1 through a screw thread formed on the outer
circumferential surface thereof.
The master piston P1 may be movably coupled to the spindle 540. In
the present embodiment, the master piston P1 may be positioned so
as to be spaced from the slave piston P2. When the master piston P1
is reciprocated forward and backward by the rotation of the spindle
540, the master piston P1 may pressurize the brake oil between the
master piston P1 and the slave piston P2 so as to pressurize the
slave piston P2.
The slave piston P2 may be movably coupled to the hydraulic
pressure chamber, and contain brake oil therein. The slave piston
P2 may be connected to the brake pad 600. As the slave piston P2 is
moved to one side, the brake pad 600 may be brought in contact with
the brake disk 700 to form a braking force.
Since the slave piston P2 is pressurized through the brake oil
serving as a medium, the master piston P1 and the slave piston P2
may be prevented from coming in contact with each other, which
makes it possible to prevent noise and damage of the device.
Furthermore, since the slave piston P2 is pressurized and moved by
the pressure of the brake oil, which is formed through the movement
of the master piston P1, the pressure of the working fluid may be
uniformly applied to the slave piston P2.
Thus, since the slave piston P2 uniformly pressurizes the entire
brake pad 600, the substantial friction area between the brake pad
600 and the brake disk 700 can be increased.
The master piston P1 may have a smaller cross-sectional area than
the inner cross-sectional area of the slave piston P2. The moving
distance of the slave piston P2 may be determined according to the
cross-sectional area and the moving distance of the master piston
P1.
For example, when the master piston P1 has a diameter of 30 mm and
the slave piston P2 has an inner diameter of 60 mm, the
cross-sectional area of the slave piston P2 may be four times
larger than the cross-sectional area of the master piston P1.
At this time, when the master piston P1 is moved by 4 mm, the slave
piston P2 is moved by 1 mm. As a result, the displacement of the
master piston P1 becomes larger than the displacement of the slave
piston P2. As such, the ratio of the cross-sectional areas of the
slave piston P2 and the master piston P1 may be considered to
determine the moving distances of the slave piston P2 and the
master piston P1.
FIG. 4 is a flowchart illustrating an initialization method for an
EMB in accordance with a first embodiment of the present invention.
Referring to FIG. 4, the initialization method S1 for an EMB in
accordance with the first embodiment of the present invention will
be described as follows.
An aspect of the present invention relates to a method for
initializing an hEMB 50 which brakes a vehicle using a master
piston P1 which drives and moves a motor (not illustrated) and a
slave piston P2 which is moved through hydraulic pressure formed by
brake oil introduced into the slave piston P2 according to the
movement of the master piston P1. The initialization method for
maintaining a gap between the master piston P1 and the slave piston
P2 will be described in detail as follows.
FIGS. 5 to 9 are reference diagrams for describing the transfer of
brake oil and the movement of the master piston P1 and the slave
pistons P2 when the in-valve 42 and the out-valve 43 are opened and
closed. Since the hEMB has substantially the same structure as a
general EMB, components such as a caliper body, a gear, a motor, a
screw, a nut, a cylinder, and a seal member are not illustrated in
FIGS. 5 to 9.
FIG. 5 is a diagram illustrating a state in which the in-valve is
opened and the out-valve is closed in the initialization method for
an EMB in accordance with the first embodiment of the present
invention. Referring to FIG. 5, the in-valve 42 for controlling a
flow path through which brake oil is introduced from the master
cylinder 10 may be opened, the out-valve 43 for controlling a flow
path through which brake oil is transferred to the accumulator part
80 may be closed, and the motor may be driven to move the master
piston P1 forward within the housing 510, at step S10. When the
motor is driven, a rotational force may be generated to move the
master piston P1.
At this time, as the in-valve 42 is opened and the out-valve 43 is
closed, the brake oil from the master cylinder 10 may be introduced
into the slave piston P2.
More specifically, since a seal member (not illustrated) for
sealing the master piston P1, the housing 510, the slave piston P2,
and a caliper body (not illustrated) is formed, the brake oil
introduced into the slave piston P2 may not leak to outside. As the
master piston P1 is moved, hydraulic pressure may be formed in the
slave piston P2.
Furthermore, when the motor is driven, the master piston P1 may be
moved forward or backward within a guide region formed in the
housing 510 according to the rotation direction of the motor. The
slave piston P2 may be moved forward or backward by the hydraulic
pressure which is formed through the movement of the master piston
P1.
FIG. 6 is a diagram illustrating that the master piston is moved
backward in a state where the in-valve and the out-valve are closed
in the initialization method for an EMB in accordance with the
first embodiment of the present invention.
When the master piston P1 is moved by a preset distance after
coming in contact with the slave piston P2 which is brought in
contact with an inner pad for forming a braking force at step S20,
the in-valve 42 may be closed and the motor may be driven to move
the master piston P1 backward as illustrated in FIG. 6, at step
S30.
When the master piston P1 is moved forward, a current change of the
motor may be measured to determine whether the master piston P1 was
brought in contact with the slave piston P2. More specifically,
when a current measured during operation of the motor is equal to
or more than a preset current, a control unit may determine that
the master piston P1 was brought in contact with the slave piston
P2.
Furthermore, the reason that the master piston P1 is further moved
by the preset distance after coming in contact with the slave
piston P2 may be described as follows. When the master piston P1 is
moved only until the master piston P1 is brought in contact with
the slave piston P2, the brake oil introduced into the slave piston
P2 may escape toward the master cylinder 10, because the master
piston P1 has a smaller cross-sectional area than the slave piston
P2. Thus, in order to prevent the escape of the brake oil, the
master piston P1 may be further moved by the preset distance after
coming in contact with the slave piston P2.
Furthermore, since the master piston P1 has a smaller
cross-sectional area than the slave piston P2, the displacement of
the master piston P1 is larger than that of the slave piston
P2.
Thus, the master piston P1 may be moved forward and backward at
higher speed than the slave piston P2.
That is, when the master piston P1 is moved backward, the master
piston P1 may be moved backward at higher speed than the slave
piston P2. Thus, a gap may be formed between the master piston P1
and the slave piston P2.
When the contact between the master piston P1 and the slave piston
P2 is released at step S40 as the master piston P1 is moved
backward at step S30, the control unit may determine whether the
gap between the master piston P1 and the slave piston P2 is equal
to or more than a preset gap. When it is determined that the gap is
equal to or more than the preset gap, the control unit may end the
initialization for the hEMB 50 at step S50.
At this time, the control unit may determine whether the gap
between the master piston P1 and the slave piston P2 is equal to or
more than the preset gap by referring to the moving distance of the
master piston P1 and the displacement of the slave piston P2 which
is moved through the hydraulic pressure formed by the brake oil
introduced into the slave piston P2. Alternatively, the control
unit may determine whether the gap between the master piston P1 and
the slave piston P2 is equal to or more than the preset gap,
through position sensors (not illustrated) installed on the master
piston P1 and the slave piston P2, respectively.
As such, the hEMB 50 may be initialized through the gap secured
between the master piston P1 and the slave piston P2.
Only through steps S10 to S40, the gap can be secured to perform
initialization for the hEMB 50. However, when the displacement of
the master piston P1 which needs to be moved at step S10 in order
to secure a sufficient gap becomes excessive, the current
consumption of the motor may be increased. Thus, in the
initialization method for an EMB in accordance with the first
embodiment of the present invention, when the gap between the
master piston P1 and the slave piston P2 is less than the preset
gap, the above-described process from step S10 to step S40 may be
repeated until the gap becomes equal to or more than the preset
gap. Therefore, current consumption can be reduced and a sufficient
gap between the master piston P1 and the slave piston P2 can be
secured to stably initialize the EMB.
FIG. 7 is a diagram illustrating that the master piston is moved
forward in a state where the out-valve is opened in the
initialization method for an EMB in accordance with the first
embodiment of the present invention.
When it is determined at step S50 that the gap between the master
piston P1 and the slave piston P2 is less than the preset gap, the
out-valve 43 may be opened and the master piston P1 may be moved
forward until the master piston P1 is brought in contact with the
slave piston P2, as illustrated in FIG. 7.
That is, when it is determined at step S50 that the gap is less
than the preset gap, the out-valve 43 may be opened and the master
piston P1 may be moved forward until the master piston P1 is
brought in contact with the slave piston P2, as illustrated in FIG.
5.
Furthermore, as the out-valve 43 is opened, the brake oil
introduced from the master cylinder 10 may be transferred to the
accumulator part 80.
FIG. 8 is a diagram illustrating that the master piston is moved
forward in a state where the in-valve is opened and the out-valve
is closed, in the initialization method for an EMB in accordance
with the first embodiment of the present invention.
When the master piston P1 is moved forward to come in contact with
the slave piston P2, the in-valve 42 may be opened, the out-valve
43 may be closed, and the motor may be driven to move the master
piston P1 forward by a preset distance, as illustrated in FIG.
8.
At this time, as the in-valve 42 is opened and the out-valve 43 is
closed, brake oil may be additionally introduced from the master
cylinder 10.
FIG. 9 is a diagram illustrating that the master piston is moved
backward in a state where the in-valve is closed and the out-valve
is opened, in the initialization method for an EMB in accordance
with the first embodiment of the present invention.
When the master piston P1 is moved by the preset distance after
coming in contact with the slave piston P2, the in-valve 42 may be
closed, the out-valve may be opened, and the motor may be driven to
move the master piston P1 backward, as illustrated in FIG. 9.
As the out-valve 43 is opened, brake oil which is additionally
introduced from the master cylinder 10 may be transferred to the
accumulator part 80. Then, when the contact between the master
piston P1 and the slave piston P2 is released as the master piston
P1 is moved backward, the control unit may determine whether the
gap between the master piston P1 and the slave piston P2 is equal
to or more than a preset gap. When the gap is equal to or more than
the preset gap, the initialization may be ended.
At this time, since the brake oil transferred to the accumulator
part 80 has pressure formed therein, the brake oil is free from the
surface tension between the master piston P1 and the slave piston
P2, unlike the brake oil which is directly introduced from the
master cylinder 10.
Furthermore, in the initialization method for an EMB in accordance
with the first embodiment of the present invention, the master
piston P1 and the slave piston P2 may be forced to be moved even
while brake oil is introduced from the master cylinder 10. Thus,
the EMB may be stably initialized because another behavior is
unlikely to occur.
That is, as the gap between the master piston and the slave piston
of the hEMB is secured through the initialization, the
initialization method can sufficiently secure the degree of freedom
for active control and the degree of freedom for pedal feel tuning
as a BBW (Brake By Wire) system.
As described above, the initialization method for an EMB in
accordance with the first embodiment of the present invention may
secure a gap between the master piston and the slave piston in the
hEMB which pressurizes the slave piston in contact with the inner
pad using hydraulic pressure, using the pressure of the master
piston which is driven by the motor, thereby maximizing the effect
of the boosted hydraulic pressure in a braking section.
FIG. 10 is a flowchart illustrating an initialization method for an
EMB in accordance with a second embodiment of the present
invention. Referring to FIG. 10, the initialization method for an
EMB in accordance with the second embodiment of the present
invention will be described as follows.
The initialization method S2 for an EMB in accordance with the
second embodiment of the present invention may include a contact
determination step S110, a piston gap determination step S120, and
a pad gap securing step S130.
At the contact determination step S110, the control unit may
determine whether the master piston P1 and the slave piston P2 come
in contact with each other before the brake pad 600 and the brake
disk 700 come in contact with each other, when the master piston P1
is moved forward.
FIG. 11 is a conceptual view for describing the operation of the
hEMB in the initialization method for an EMB in accordance with the
second embodiment of the present invention. FIG. 12 is a conceptual
view illustrating that the master piston and the slave piston of
the hEMB are moved forward in the initialization method for an EMB
in accordance with the second embodiment of the present
invention.
Referring to FIGS. 11 and 12, the motor 530 may be rotated to move
the master piston P1 forward, in a state where the in-valve 42 for
controlling entry and exit of brake oil to and from the master
cylinder 10 is closed and the out-valve 43 for controlling entry
and exit of brake oil to and from the accumulator part 80 is
closed, at steps S111 and S112.
Since the master piston P1 is moved forward in a state where the
entry and exit of brake oil through the in-valve 42 and the
out-valve 43 is not performed, the slave piston P2 may be moved
forward by the increase in pressure of the brake oil housed between
the master piston P1 and the slave piston P2.
Since the master piston P1 has a smaller cross-sectional area than
the slave piston P2, the moving distance of the master piston P1 is
larger than the moving distance of the slave piston P2.
FIG. 13 is a diagram illustrating a state in which the brake pad
and the brake disk are brought in contact with each other by the
slave piston of the hEMB, in the initialization method for an EMB
in accordance with the second embodiment of the present
invention.
Referring to FIG. 13, when a gap between the master piston P1 and
the slave piston P2 is secured, the movement of the master piston
P1 may be stopped as the brake pad 600 moving with the slave piston
P2 comes in contact with the brake disk 700, before the master
piston P1 comes in contact with the slave piston P2.
FIG. 14 is a conceptual view illustrating a state in which the
master piston and the slave piston of the hEMB are brought in
contact with each other while being moved forward, in the
initialization method for an EMB in accordance with the second
embodiment of the present invention.
Referring to FIG. 14, when a sufficient gap between the master
piston P1 and the slave piston P2 is not secured, the master piston
P1 may come in contact with the slave piston P2 before the brake
pad 600 comes in contact with the brake disk 700.
In the second embodiment of the present invention, when the
pressure of a pressure sensor PS connected to the hydraulic
pressure chamber corresponds to a preset pressure or more, the
control unit may determine that the brake pad 600 and the brake
disk 700 are brought in contact with each other, before the master
piston P1 is brought in contact with the slave piston P2.
That is, when the brake pad 600 attached to the slave piston P2
comes in contact with the brake disk 700 as the master piston P1 is
moved forward, the movement of the slave piston P2 may be
limited.
When the master piston P1 is moved forward in a state where the
slave piston P2 is not moved forward, the pressure of the brake oil
as incompressible fluid may be increased. Thus, the control unit
may determine whether the pressure measured through the pressure
sensor PS is equal to or more than the preset pressure, and
determine whether the brake pad 600 is brought in contact with the
brake disk 700 as the master piston P1 is moved forward, at step
S113.
On the other hand, when the master piston P1 and the slave piston
P2 are brought in contact with each other before the brake pad 600
comes in contact with the brake disk 700, the pressure may not
reach the preset pressure.
When the master piston P1 and the slave piston P2 are first brought
in contact with each other while the slave piston P2 is moved as
the master piston P1 is moved forward, the master piston P1 and the
slave piston P2 may be moved at the same speed.
When the master piston P1 having a smaller cross-sectional area
than the inner cross-sectional area of the slave piston P2 is moved
at the same speed as the slave piston P2, the pressure may be
reduced while the internal volume of the hydraulic pressure chamber
containing brake oil expands.
Thus, depending on whether the value measured through the pressure
sensor PS reached the preset value, the control unit may determine
whether the master piston P1 and the slave piston P2 are brought in
contact with each other as the master piston P1 is moved
forward.
In the second embodiment of the present invention, as a sufficient
gap is secured between the master piston P1 and the slave piston
P2, the brake pad 600 may be brought in contact with the brake disk
700 so as to form a braking force, before the master piston P1
comes in contact with the slave piston P2 when being moved
forward.
At the piston gap determination step S120, the control unit may
determine whether a piston gap between the master piston P1 and the
slave piston P2 corresponds to a first section.
When it is determined at the contact determination step S110 that
the brake pad 600 and the brake disk 700 were brought in contact
with each other before the master piston P1 and the slave piston P2
were brought in contact with each other, the master piston P1 may
be moved forward in a state where the out-valve 43 is opened at
step S121. In this state, the control unit may determine whether a
moving distance required until the master piston P1 comes in
contact with the slave piston P2 corresponds to the first section,
at steps S122 and S123.
FIG. 15 is a conceptual view illustrating a state in which the
master piston and the slave piston of the hEMB are brought in
contact with each other, in the initialization method for an EMB in
accordance with the second embodiment of the present invention.
Referring to FIG. 15, the master piston P1 be moved forward in a
state where the out-valve 43 is opened and the forward movement of
the slave piston P2 is limited by the brake pad 600. Thus, as the
master piston P1 is moved forward, the brake oil may be transferred
to the accumulator part 80 through the out-valve 43.
The master piston P1 may be moved forward to come in contact with
the slave piston P2. The control unit may determine whether the
master piston P1 comes in contact with the slave piston P2, through
a current sensor mounted on the motor 530 which moves the master
piston P1.
When the pressure applied to the master piston P1 is changed, the
load applied to the motor 530 may be varied. Thus, the control unit
may measure whether a current measured during operation of the
motor 530 is equal to or more than a preset current, in order to
determine whether the master piston P1 came in contact with the
slave piston P2.
Since the master piston P1 is moved forward in a state where the
slave piston P2 is stopped, the moving distance of the master
piston P1 may correspond to the moving distance of the slave piston
P2 before the master piston P1 is moved. The control unit may
determine whether a value obtained by measuring the moving distance
of the master piston P1 corresponds to the first section.
The first section may indicate a gap required between the master
piston P1 and the slave piston P2 in a state where the movement of
the slave piston P2 is limited by the contact between the brake pad
600 and the brake disk 700, and correspond to a section which is
previously set by considering brake oil, the device size, a braking
force, abrasion of the brake pad 600 or the like.
FIG. 16 is a conceptual view illustrating a state in which the
master piston is moved backward in order to secure a gap between
the master piston and the slave piston of the hEMB, in the
initialization method for an EMB in accordance with the second
embodiment of the present invention.
Referring to FIG. 16, when the master piston P1 is moved backward
in a state where the out-valve 43 is opened, the brake oil
transferred to the accumulator part 80 may be introduced into the
hydraulic pressure chamber.
In the second embodiment, the piston gap determination step S120
may include an additional forward movement step and an oil
injection step. At the additional forward movement step, when it is
determined that the brake pad 600 and the brake disk 700 were
brought in contact with each other after the master piston P1 and
the slave piston P2 were brought in contact with each other, the
master piston P1 may be moved forward until the brake pad 600 and
the brake disk 700 come in contact with each other in a state where
the in-valve 42 is opened.
After the additional forward movement step, the state in which the
master piston P1 and the slave piston P2 are brought in contact
with each other may be switched to the state in which the brake pad
600 and the brake disk 700 are brought in contact with each other.
Then, the brake oil may be injected to secure a gap between the
master piston P1 and the slave piston P2.
At the oil injection step, when the brake pad 600 and the brake
disk 700 are brought in contact with each other through the
additional forward movement step, the master piston P1 may be moved
backward by a distance corresponding to the first section while
brake oil is injected through the in-valve 42.
Specifically, at the oil injection step, the in-valve 42 and the
normal closed valve 35 may be opened in a state where the out-valve
43 and the normal open valve 33 are closed, and the master piston
P1 may be moved forward while the motor pump 90 is operated to
inject the brake oil of the master cylinder 10 into the hydraulic
pressure chamber.
FIG. 17 is a conceptual view illustrating a state in which the
master piston and the slave piston of the hEMB are moved backward
to secure a gap from the brake pad, in the initialization method
for an EMB in accordance with the second embodiment of the present
invention.
Referring to FIG. 17, when the moving distance of the master piston
P1 corresponds to the first section at the pad gap securing step
S130, the master piston P1 may be moved backward until the pad gap
between the slave piston P2 and the brake pad 600 corresponds to a
second section. Then, the initialization of the hEMB 50 may be
ended.
When the moving distance of the master piston P1 corresponds to the
first section, it may indicate that a sufficient gap is secured
between the master piston P1 and the slave piston P2. Thus, the
master piston P1 may be moved backward to introduce the brake oil
leaking to the accumulator part 80 into the hydraulic pressure
chamber in a state where the out-valve 43 is opened, at step
S131.
When the brake oil is introduced into the hydraulic pressure
chamber, the master piston P1 may be moved backward after the
out-valve 43 is closed. Since the master piston P1 is moved
backward in a state where the in-valve 42 and the out-valve 43 are
closed, the slave piston P2 may be moved backward in connection
with the movement of the master piston P1, at step S132.
Based on the moving distance of the master piston P1 and the ratio
of the cross-sectional areas of the master piston P1 and the slave
piston P2, the moving distances of the slave piston P2 and the
brake pad 600 may be calculated. The master piston P1 may be moved
backward until the moving distance of the slave piston P2
corresponds to less than the second section. Then, the
initialization may be ended.
The initialization method for an EMB in accordance with the second
embodiment of the present invention may secure a gap between the
master piston P1 and the slave piston P2 in the hEMB 50 which
pressurizes the slave piston P2 brought in contact with the brake
pad 600 using hydraulic pressure, using the pressure of the master
piston P1 driven by the motor 530, thereby maximizing the effect of
boosted hydraulic pressure in a braking section.
Furthermore, as the gap between the master piston and the slave
piston of the hEMB is secured through the initialization, the
initialization method can sufficiently secure the degree of freedom
for active control and the degree of freedom for pedal feel tuning
as a BBW (Brake By Wire) system.
Furthermore, the initialization method may complete the
initialization operation for the EMB through one reciprocation of
the master piston P1. Thus, the initialization process can be
simply and rapidly performed.
Although embodiments of the invention have been disclosed for
illustrative purposes, those skilled in the art will appreciate
that various modifications, additions and substitutions are
possible, without departing from the scope and spirit of the
invention as defined in the accompanying claims.
* * * * *